udaan.flatness.base module

Base class for per-system differential-flatness state recovery.

A subclass declares three dataclass types as class attributes Flats, RefState, Inputs and implements recover. Physical parameters (mass, inertia, cable length, …) live on the instance; the flat-to-state map itself is stateless in time.

class udaan.flatness.base.Flat2State

Bases: object

Differential-flatness map for a specific robotic system.

Subclass contract:

• Declare three dataclasses as class attributes:

  Flats flat-output derivative bundle at a single time RefState recovered kinematic reference state Inputs recovered feedforward inputs

• Implement recover(self, flats) -> (RefState, Inputs).

Optional: provide a from_model(cls, model) classmethod that reads physical parameters off the corresponding simulation model.

Intermediate abstract classes (ones that only partially specify the triple and are subclassed again before instantiation) can opt out of the declaration check with _abstract = True.

Flats: ClassVar[type]

Inputs: ClassVar[type]

RefState: ClassVar[type]

recover(flats)

Map flat-output derivatives to (reference state, feedforward inputs).

Subclasses must override.